<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Collision Checker: collision::Trajectory Class Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Collision Checker
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
      <li><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
      <li><a href="hierarchy.html"><span>Class&#160;Hierarchy</span></a></li>
      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
    </ul>
  </div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="namespacecollision.html">collision</a></li><li class="navelem"><a class="el" href="classcollision_1_1_trajectory.html">Trajectory</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="classcollision_1_1_trajectory-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">collision::Trajectory Class Reference</div>  </div>
</div><!--header-->
<div class="contents">

<p><a class="el" href="classcollision_1_1_trajectory.html" title="Trajectory is a TimeVariantCollisionObject built from oriented bounding boxes (RectangleOBB) ...">Trajectory</a> is a <a class="el" href="classcollision_1_1_time_variant_collision_object.html" title="TimeVariantCollisionObject can contain a different CollisionObject or ShapeGroup at each time step...">TimeVariantCollisionObject</a> built from oriented bounding boxes (<a class="el" href="classcollision_1_1_rectangle_o_b_b.html" title="Oriented rectangle. ">RectangleOBB</a>)  
 <a href="classcollision_1_1_trajectory.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="trajectory_8h_source.html">trajectory.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for collision::Trajectory:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classcollision_1_1_trajectory.png" usemap="#collision::Trajectory_map" alt=""/>
  <map id="collision::Trajectory_map" name="collision::Trajectory_map">
<area href="classcollision_1_1_time_variant_collision_object.html" title="TimeVariantCollisionObject can contain a different CollisionObject or ShapeGroup at each time step..." alt="collision::TimeVariantCollisionObject" shape="rect" coords="0,112,285,136"/>
<area href="classcollision_1_1_collision_object.html" title="Base class for CollisionObjects and some of their groups. " alt="collision::CollisionObject" shape="rect" coords="0,56,285,80"/>
</map>
 </div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a2877328b888698d91450c528e4aa8ebc"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_trajectory.html#a2877328b888698d91450c528e4aa8ebc">Trajectory</a> (int <a class="el" href="classcollision_1_1_time_variant_collision_object.html#a455b982fbedf86e5876076b73a1ffab1">time_start_idx</a>, std::vector&lt; Eigen::Vector2d &gt; positions, std::vector&lt; double &gt; orientations, double length, double width, double max_interp_distance=1.0)</td></tr>
<tr class="memdesc:a2877328b888698d91450c528e4aa8ebc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classcollision_1_1_trajectory.html" title="Trajectory is a TimeVariantCollisionObject built from oriented bounding boxes (RectangleOBB) ...">Trajectory</a>.  <a href="#a2877328b888698d91450c528e4aa8ebc">More...</a><br /></td></tr>
<tr class="separator:a2877328b888698d91450c528e4aa8ebc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b652f177d0ff8743b8a1c601b6e6ddf"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_trajectory.html#a9b652f177d0ff8743b8a1c601b6e6ddf">~Trajectory</a> ()</td></tr>
<tr class="separator:a9b652f177d0ff8743b8a1c601b6e6ddf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a896288ce80aa8907e6812702ef36e982"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_trajectory.html#a896288ce80aa8907e6812702ef36e982">get_num_steps_for_timestep</a> (int time_idx)</td></tr>
<tr class="separator:a896288ce80aa8907e6812702ef36e982"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b2081ad062b954d86df6b51478cbf5a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_trajectory.html#a2b2081ad062b954d86df6b51478cbf5a">simulate_init</a> (int time_idx, int steps)</td></tr>
<tr class="separator:a2b2081ad062b954d86df6b51478cbf5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a194d4460d6847b5c28394ccaf470f5db"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_trajectory.html#a194d4460d6847b5c28394ccaf470f5db">simulate_step</a> (void)</td></tr>
<tr class="separator:a194d4460d6847b5c28394ccaf470f5db"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16467256bfd806c0a152211b94c8d55f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_trajectory.html#a16467256bfd806c0a152211b94c8d55f">print</a> (std::ostringstream &amp;stream) const </td></tr>
<tr class="memdesc:a16467256bfd806c0a152211b94c8d55f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print all parameters of the shape.  <a href="#a16467256bfd806c0a152211b94c8d55f">More...</a><br /></td></tr>
<tr class="separator:a16467256bfd806c0a152211b94c8d55f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0afb0d6928a4f20bb975a05b3f97947"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_trajectory.html#ad0afb0d6928a4f20bb975a05b3f97947">getBoundingVolume</a> () const </td></tr>
<tr class="separator:ad0afb0d6928a4f20bb975a05b3f97947"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classcollision_1_1_time_variant_collision_object"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_time_variant_collision_object')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_time_variant_collision_object.html">collision::TimeVariantCollisionObject</a></td></tr>
<tr class="memitem:abf3da18bb150f5574cce44d4312f9d1d inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#abf3da18bb150f5574cce44d4312f9d1d">~TimeVariantCollisionObject</a> ()</td></tr>
<tr class="separator:abf3da18bb150f5574cce44d4312f9d1d inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad234f952bfae74c775256dd08f6da8c5 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#ad234f952bfae74c775256dd08f6da8c5">TimeVariantCollisionObject</a> (int <a class="el" href="classcollision_1_1_time_variant_collision_object.html#a455b982fbedf86e5876076b73a1ffab1">time_start_idx</a>)</td></tr>
<tr class="memdesc:ad234f952bfae74c775256dd08f6da8c5 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dispatcher functions.  <a href="#ad234f952bfae74c775256dd08f6da8c5">More...</a><br /></td></tr>
<tr class="separator:ad234f952bfae74c775256dd08f6da8c5 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afdc7b4c3f3848b4e4978bc3eaa67455c inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#afdc7b4c3f3848b4e4978bc3eaa67455c">getObstacleAtTime</a> (int time_idx) const </td></tr>
<tr class="separator:afdc7b4c3f3848b4e4978bc3eaa67455c inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab59814dd8f7a109edd22df8d250c96f7 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#ab59814dd8f7a109edd22df8d250c96f7">appendObstacle</a> (<a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obstacle)</td></tr>
<tr class="separator:ab59814dd8f7a109edd22df8d250c96f7 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8363cd3141ba8ec00b6abba8ce75e4a0 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#a8363cd3141ba8ec00b6abba8ce75e4a0">timeSlice</a> (int time_idx, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) const </td></tr>
<tr class="separator:a8363cd3141ba8ec00b6abba8ce75e4a0 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a455b982fbedf86e5876076b73a1ffab1 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#a455b982fbedf86e5876076b73a1ffab1">time_start_idx</a> () const </td></tr>
<tr class="separator:a455b982fbedf86e5876076b73a1ffab1 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acadcdccbca2fe1a4ecef01a596f91993 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#acadcdccbca2fe1a4ecef01a596f91993">time_end_idx</a> () const </td></tr>
<tr class="separator:acadcdccbca2fe1a4ecef01a596f91993 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7136e0ab4b29a769ee9720784523f933 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#a7136e0ab4b29a769ee9720784523f933">RayTrace</a> (Eigen::Vector2d point1, Eigen::Vector2d point2, std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;intersect) const </td></tr>
<tr class="separator:a7136e0ab4b29a769ee9720784523f933 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06de29fc73aa920224c25067288ae8f0 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#a06de29fc73aa920224c25067288ae8f0">collide</a> (const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;c, bool prim=false) const </td></tr>
<tr class="separator:a06de29fc73aa920224c25067288ae8f0 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0c9809861f95cc3ce403e9a3ae39deee inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#a0c9809861f95cc3ce403e9a3ae39deee">collide</a> (const <a class="el" href="classcollision_1_1_shape.html">Shape</a> &amp;shape, bool prim=false) const </td></tr>
<tr class="separator:a0c9809861f95cc3ce403e9a3ae39deee inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad25bd78a5d5913513aa42ba7246dae26 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#ad25bd78a5d5913513aa42ba7246dae26">collide</a> (const <a class="el" href="classcollision_1_1_point.html">Point</a> &amp;point, bool prim=false) const </td></tr>
<tr class="separator:ad25bd78a5d5913513aa42ba7246dae26 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac4f5ec771a56b80956604c7205f649d1 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#ac4f5ec771a56b80956604c7205f649d1">collide</a> (const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb, bool prim=false) const </td></tr>
<tr class="separator:ac4f5ec771a56b80956604c7205f649d1 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab551e233c9377b5b3bdf9ac4ab52d30f inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#ab551e233c9377b5b3bdf9ac4ab52d30f">collide</a> (const <a class="el" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;obb, bool prim=false) const </td></tr>
<tr class="separator:ab551e233c9377b5b3bdf9ac4ab52d30f inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada18ebdd27239f3c8d0993a1a62231db inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#ada18ebdd27239f3c8d0993a1a62231db">collide</a> (const <a class="el" href="classcollision_1_1_sphere.html">Sphere</a> &amp;sphere, bool prim=false) const </td></tr>
<tr class="separator:ada18ebdd27239f3c8d0993a1a62231db inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa44ccdf21a5952549d2276729697c960 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#aa44ccdf21a5952549d2276729697c960">collide</a> (const <a class="el" href="classcollision_1_1_triangle.html">Triangle</a> &amp;triangle, bool prim=false) const </td></tr>
<tr class="separator:aa44ccdf21a5952549d2276729697c960 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7c9e4931ce2b071e7def8b62eaa67e85 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#a7c9e4931ce2b071e7def8b62eaa67e85">collide</a> (const <a class="el" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> &amp;tvco, bool prim=false) const </td></tr>
<tr class="separator:a7c9e4931ce2b071e7def8b62eaa67e85 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1541b9e9460c43f1d465a6c9d2b1e3f5 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#a1541b9e9460c43f1d465a6c9d2b1e3f5">collide</a> (const <a class="el" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;sg, bool prim=false) const </td></tr>
<tr class="separator:a1541b9e9460c43f1d465a6c9d2b1e3f5 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7530f67cb8b491a45c7e31a5705e8ca3 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#a7530f67cb8b491a45c7e31a5705e8ca3">collide</a> (const <a class="el" href="classcollision_1_1_polygon.html">Polygon</a> &amp;polygon, bool prim=false) const </td></tr>
<tr class="separator:a7530f67cb8b491a45c7e31a5705e8ca3 inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56c9899dffb6c4e948bca67d0cf5998e inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#a56c9899dffb6c4e948bca67d0cf5998e">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map) const </td></tr>
<tr class="separator:a56c9899dffb6c4e948bca67d0cf5998e inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd432e87c1018c41713eb6d51dd7d79c inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#afd432e87c1018c41713eb6d51dd7d79c">get_collision_entity_type</a> (void) const </td></tr>
<tr class="separator:afd432e87c1018c41713eb6d51dd7d79c inherit pub_methods_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classcollision_1_1_collision_object"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_collision_object')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></td></tr>
<tr class="memitem:a96352a5369914c677a8f826b68028205 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a96352a5369914c677a8f826b68028205">~CollisionObject</a> ()</td></tr>
<tr class="separator:a96352a5369914c677a8f826b68028205 inherit pub_methods_classcollision_1_1_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5855ec52559b2df6fa45cb56889921da inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a5855ec52559b2df6fa45cb56889921da">to_string</a> (std::ostringstream &amp;stream) const </td></tr>
<tr class="separator:a5855ec52559b2df6fa45cb56889921da inherit pub_methods_classcollision_1_1_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25631395f0c557c72fadb1f3353c5ed3 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a25631395f0c557c72fadb1f3353c5ed3">BVCheck</a> (<a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2) const </td></tr>
<tr class="separator:a25631395f0c557c72fadb1f3353c5ed3 inherit pub_methods_classcollision_1_1_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f1f11cc462c02c472fe30ed88b090d5 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual std::shared_ptr&lt; const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a8f1f11cc462c02c472fe30ed88b090d5">getAABB</a> () const </td></tr>
<tr class="separator:a8f1f11cc462c02c472fe30ed88b090d5 inherit pub_methods_classcollision_1_1_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abad9b7476e946f211f79a4fd7bc2dfeb inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#abad9b7476e946f211f79a4fd7bc2dfeb">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> parent) const </td></tr>
<tr class="separator:abad9b7476e946f211f79a4fd7bc2dfeb inherit pub_methods_classcollision_1_1_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d2cf68675ba0ebdc9328f9bbe571526 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a3d2cf68675ba0ebdc9328f9bbe571526">queryContainterIndex</a> (<a class="el" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *) const </td></tr>
<tr class="separator:a3d2cf68675ba0ebdc9328f9bbe571526 inherit pub_methods_classcollision_1_1_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa0e146ef470393ddda47f8e64e36d6e0 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#aa0e146ef470393ddda47f8e64e36d6e0">registerParent</a> (<a class="el" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *, int index) const </td></tr>
<tr class="separator:aa0e146ef470393ddda47f8e64e36d6e0 inherit pub_methods_classcollision_1_1_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a876498b3372dff727dd5d396a65f0dc9 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a876498b3372dff727dd5d396a65f0dc9">deregisterParent</a> (<a class="el" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *) const </td></tr>
<tr class="separator:a876498b3372dff727dd5d396a65f0dc9 inherit pub_methods_classcollision_1_1_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_attribs_classcollision_1_1_time_variant_collision_object"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcollision_1_1_time_variant_collision_object')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcollision_1_1_time_variant_collision_object.html">collision::TimeVariantCollisionObject</a></td></tr>
<tr class="memitem:ac948c1373eecc7d7c9029996c5dc2ab4 inherit pro_attribs_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#ac948c1373eecc7d7c9029996c5dc2ab4">time_start_idx_</a></td></tr>
<tr class="separator:ac948c1373eecc7d7c9029996c5dc2ab4 inherit pro_attribs_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a83f60dea6e80754d544e5af6cedd36f1 inherit pro_attribs_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#a83f60dea6e80754d544e5af6cedd36f1">time_end_idx_</a></td></tr>
<tr class="separator:a83f60dea6e80754d544e5af6cedd36f1 inherit pro_attribs_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaeda983c8e36ac18f988168261f57744 inherit pro_attribs_classcollision_1_1_time_variant_collision_object"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_time_variant_collision_object.html#aaeda983c8e36ac18f988168261f57744">collision_object_at_time_</a></td></tr>
<tr class="separator:aaeda983c8e36ac18f988168261f57744 inherit pro_attribs_classcollision_1_1_time_variant_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="classcollision_1_1_trajectory.html" title="Trajectory is a TimeVariantCollisionObject built from oriented bounding boxes (RectangleOBB) ...">Trajectory</a> is a <a class="el" href="classcollision_1_1_time_variant_collision_object.html" title="TimeVariantCollisionObject can contain a different CollisionObject or ShapeGroup at each time step...">TimeVariantCollisionObject</a> built from oriented bounding boxes (<a class="el" href="classcollision_1_1_rectangle_o_b_b.html" title="Oriented rectangle. ">RectangleOBB</a>) </p>
<p><a class="el" href="classcollision_1_1_trajectory.html" title="Trajectory is a TimeVariantCollisionObject built from oriented bounding boxes (RectangleOBB) ...">Trajectory</a> creates a set of oriented bounding boxes for each time step interpolating between the given orientations </p>

<p>Definition at line <a class="el" href="trajectory_8h_source.html#l00020">20</a> of file <a class="el" href="trajectory_8h_source.html">trajectory.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a2877328b888698d91450c528e4aa8ebc"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">collision::Trajectory::Trajectory </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>time_start_idx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Vector2d &gt;&#160;</td>
          <td class="paramname"><em>positions</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; double &gt;&#160;</td>
          <td class="paramname"><em>orientations</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>length</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>max_interp_distance</em> = <code>1.0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Creates a new <a class="el" href="classcollision_1_1_trajectory.html" title="Trajectory is a TimeVariantCollisionObject built from oriented bounding boxes (RectangleOBB) ...">Trajectory</a>. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">time_start_idx</td><td>index of the first timestep </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">positions</td><td>sequence of positions for the trajectory objects </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">orientations</td><td>sequence of orientations for the trajectory objects </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="trajectory_8cc_source.html#l00019">19</a> of file <a class="el" href="trajectory_8cc_source.html">trajectory.cc</a>.</p>

</div>
</div>
<a class="anchor" id="a9b652f177d0ff8743b8a1c601b6e6ddf"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual collision::Trajectory::~Trajectory </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="trajectory_8h_source.html#l00027">27</a> of file <a class="el" href="trajectory_8h_source.html">trajectory.h</a>.</p>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="a896288ce80aa8907e6812702ef36e982"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int collision::Trajectory::get_num_steps_for_timestep </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>time_idx</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a class="anchor" id="ad0afb0d6928a4f20bb975a05b3f97947"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="namespacecollision.html#ad1f68b4864b28e2694b3b3b7a1f9e43c">BoundingVolumeConstPtr</a> collision::Trajectory::getBoundingVolume </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Reimplemented from <a class="el" href="classcollision_1_1_time_variant_collision_object.html#a9dec5089442e41a13f87255e0094c7cc">collision::TimeVariantCollisionObject</a>.</p>

<p>Definition at line <a class="el" href="trajectory_8cc_source.html#l00170">170</a> of file <a class="el" href="trajectory_8cc_source.html">trajectory.cc</a>.</p>

</div>
</div>
<a class="anchor" id="a16467256bfd806c0a152211b94c8d55f"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void collision::Trajectory::print </td>
          <td>(</td>
          <td class="paramtype">std::ostringstream &amp;&#160;</td>
          <td class="paramname"><em>stream</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Print all parameters of the shape. </p>

<p>Reimplemented from <a class="el" href="classcollision_1_1_time_variant_collision_object.html#af3c9332c3de8c7b69b666bab8dd7a61c">collision::TimeVariantCollisionObject</a>.</p>

<p>Definition at line <a class="el" href="trajectory_8cc_source.html#l00161">161</a> of file <a class="el" href="trajectory_8cc_source.html">trajectory.cc</a>.</p>

</div>
</div>
<a class="anchor" id="a2b2081ad062b954d86df6b51478cbf5a"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int collision::Trajectory::simulate_init </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>time_idx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>steps</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a class="anchor" id="a194d4460d6847b5c28394ccaf470f5db"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int collision::Trajectory::simulate_step </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/osboxes/Documents/p3/root_comm/root/tools/commonroad-collision-checker/cpp/collision/<a class="el" href="trajectory_8h_source.html">trajectory.h</a></li>
<li>/home/osboxes/Documents/p3/root_comm/root/tools/commonroad-collision-checker/cpp/collision/<a class="el" href="trajectory_8cc_source.html">trajectory.cc</a></li>
</ul>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</small></address>
</body>
</html>
